Major refactoring and update of PUS module

satrs/tests/mode_tree.rs

@@ -0,0 +1,358 @@
+use core::cell::Cell;
+use std::{println, sync::mpsc};
+
+use satrs::mode::{
+    ModeError, ModeProvider, ModeReplyReceiver, ModeReplySender, ModeRequestHandler,
+    ModeRequestHandlerMpscBounded, ModeRequestReceiver, ModeRequestorAndHandlerMpscBounded,
+    ModeRequestorBoundedMpsc,
+};
+use satrs::request::MessageMetadata;
+use satrs::{
+    mode::{ModeAndSubmode, ModeReply, ModeRequest},
+    queue::GenericTargetedMessagingError,
+    request::GenericMessage,
+    ComponentId,
+};
+use std::string::{String, ToString};
+
+pub enum TestComponentId {
+    Device1 = 1,
+    Device2 = 2,
+    Assembly = 3,
+    PusModeService = 4,
+}
+
+struct PusModeService {
+    pub request_id_counter: Cell<u32>,
+    pub mode_node: ModeRequestorBoundedMpsc,
+}
+
+impl PusModeService {
+    pub fn send_announce_mode_cmd_to_assy(&self) {
+        self.mode_node
+            .send_mode_request(
+                self.request_id_counter.get(),
+                TestComponentId::Assembly as ComponentId,
+                ModeRequest::AnnounceModeRecursive,
+            )
+            .unwrap();
+        self.request_id_counter
+            .replace(self.request_id_counter.get() + 1);
+    }
+}
+
+struct TestDevice {
+    pub name: String,
+    pub mode_node: ModeRequestHandlerMpscBounded,
+    pub mode_and_submode: ModeAndSubmode,
+}
+
+impl TestDevice {
+    pub fn run(&mut self) {
+        self.check_mode_requests().expect("mode messaging error");
+    }
+
+    pub fn check_mode_requests(&mut self) -> Result<(), ModeError> {
+        if let Some(request) = self.mode_node.try_recv_mode_request()? {
+            self.handle_mode_request(request)?
+        }
+        Ok(())
+    }
+}
+
+impl ModeProvider for TestDevice {
+    fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.mode_and_submode
+    }
+}
+
+impl ModeRequestHandler for TestDevice {
+    type Error = ModeError;
+
+    fn start_transition(
+        &mut self,
+        requestor: MessageMetadata,
+        mode_and_submode: ModeAndSubmode,
+    ) -> Result<(), ModeError> {
+        self.mode_and_submode = mode_and_submode;
+        self.handle_mode_reached(Some(requestor))?;
+        Ok(())
+    }
+
+    fn announce_mode(&self, _requestor_info: MessageMetadata, _recursive: bool) {
+        println!(
+            "{}: announcing mode: {:?}",
+            self.name, self.mode_and_submode
+        );
+    }
+
+    fn handle_mode_reached(&mut self, requestor: Option<MessageMetadata>) -> Result<(), ModeError> {
+        if let Some(requestor) = requestor {
+            self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
+        }
+        Ok(())
+    }
+    fn send_mode_reply(
+        &self,
+        requestor_info: MessageMetadata,
+        reply: ModeReply,
+    ) -> Result<(), ModeError> {
+        self.mode_node.send_mode_reply(requestor_info, reply)?;
+        Ok(())
+    }
+
+    fn handle_mode_info(
+        &mut self,
+        requestor_info: MessageMetadata,
+        info: ModeAndSubmode,
+    ) -> Result<(), ModeError> {
+        // A device is a leaf in the tree.. so this really should not happen
+        println!(
+            "{}: unexpected mode info from {:?} with mode: {:?}",
+            self.name,
+            requestor_info.sender_id(),
+            info
+        );
+        Ok(())
+    }
+}
+
+struct TestAssembly {
+    pub mode_node: ModeRequestorAndHandlerMpscBounded,
+    pub mode_requestor_info: Option<MessageMetadata>,
+    pub mode_and_submode: ModeAndSubmode,
+    pub target_mode_and_submode: Option<ModeAndSubmode>,
+}
+
+impl ModeProvider for TestAssembly {
+    fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.mode_and_submode
+    }
+}
+
+impl TestAssembly {
+    pub fn run(&mut self) {
+        self.check_mode_requests().expect("mode messaging error");
+        self.check_mode_replies().expect("mode messaging error");
+    }
+
+    pub fn check_mode_requests(&mut self) -> Result<(), GenericTargetedMessagingError> {
+        if let Some(request) = self.mode_node.try_recv_mode_request()? {
+            match request.message {
+                ModeRequest::SetMode(mode_and_submode) => {
+                    self.start_transition(request.requestor_info, mode_and_submode)
+                        .unwrap();
+                }
+                ModeRequest::ReadMode => self
+                    .mode_node
+                    .send_mode_reply(
+                        request.requestor_info,
+                        ModeReply::ModeReply(self.mode_and_submode),
+                    )
+                    .unwrap(),
+                ModeRequest::AnnounceMode => self.announce_mode(request.requestor_info, false),
+                ModeRequest::AnnounceModeRecursive => {
+                    self.announce_mode(request.requestor_info, true)
+                }
+                ModeRequest::ModeInfo(_) => todo!(),
+            }
+        }
+        Ok(())
+    }
+
+    pub fn check_mode_replies(&mut self) -> Result<(), GenericTargetedMessagingError> {
+        if let Some(reply_and_id) = self.mode_node.try_recv_mode_reply()? {
+            match reply_and_id.message {
+                ModeReply::ModeReply(reply) => {
+                    println!(
+                        "TestAssembly: Received mode reply from {:?}, reached: {:?}",
+                        reply_and_id.sender_id(),
+                        reply
+                    );
+                }
+                ModeReply::CantReachMode(_) => todo!(),
+                ModeReply::WrongMode { expected, reached } => {
+                    println!(
+                        "TestAssembly: Wrong mode reply from {:?}, reached {:?}, expected {:?}",
+                        reply_and_id.sender_id(),
+                        reached,
+                        expected
+                    );
+                }
+            }
+        }
+        Ok(())
+    }
+}
+
+impl ModeRequestHandler for TestAssembly {
+    type Error = ModeError;
+    fn start_transition(
+        &mut self,
+        requestor: MessageMetadata,
+        mode_and_submode: ModeAndSubmode,
+    ) -> Result<(), Self::Error> {
+        self.mode_requestor_info = Some(requestor);
+        self.target_mode_and_submode = Some(mode_and_submode);
+        Ok(())
+    }
+
+    fn announce_mode(&self, requestor_info: MessageMetadata, recursive: bool) {
+        println!(
+            "TestAssembly: Announcing mode (recursively: {}): {:?}",
+            recursive, self.mode_and_submode
+        );
+        // self.mode_requestor_info = Some((request_id, sender_id));
+        let mut mode_request = ModeRequest::AnnounceMode;
+        if recursive {
+            mode_request = ModeRequest::AnnounceModeRecursive;
+        }
+        self.mode_node
+            .request_sender_map
+            .0
+            .iter()
+            .for_each(|(_, sender)| {
+                sender
+                    .send(GenericMessage::new(
+                        MessageMetadata::new(
+                            requestor_info.request_id(),
+                            self.mode_node.local_channel_id_generic(),
+                        ),
+                        mode_request,
+                    ))
+                    .expect("sending mode request failed");
+            });
+    }
+
+    fn handle_mode_reached(
+        &mut self,
+        mode_requestor: Option<MessageMetadata>,
+    ) -> Result<(), Self::Error> {
+        if let Some(requestor) = mode_requestor {
+            self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
+        }
+        Ok(())
+    }
+
+    fn send_mode_reply(
+        &self,
+        requestor: MessageMetadata,
+        reply: ModeReply,
+    ) -> Result<(), Self::Error> {
+        self.mode_node.send_mode_reply(requestor, reply)?;
+        Ok(())
+    }
+
+    fn handle_mode_info(
+        &mut self,
+        _requestor_info: MessageMetadata,
+        _info: ModeAndSubmode,
+    ) -> Result<(), Self::Error> {
+        // TODO: A proper assembly must reach to mode changes of its children..
+        Ok(())
+    }
+}
+
+fn main() {
+    // All request channel handles.
+    let (request_sender_to_dev1, request_receiver_dev1) = mpsc::sync_channel(10);
+    let (request_sender_to_dev2, request_receiver_dev2) = mpsc::sync_channel(10);
+    let (request_sender_to_assy, request_receiver_assy) = mpsc::sync_channel(10);
+
+    // All reply channel handles.
+    let (reply_sender_to_assy, reply_receiver_assy) = mpsc::sync_channel(10);
+    let (reply_sender_to_pus, reply_receiver_pus) = mpsc::sync_channel(10);
+
+    // Mode requestors and handlers.
+    let mut mode_node_assy = ModeRequestorAndHandlerMpscBounded::new(
+        TestComponentId::Assembly as ComponentId,
+        request_receiver_assy,
+        reply_receiver_assy,
+    );
+    // Mode requestors only.
+    let mut mode_node_pus = ModeRequestorBoundedMpsc::new(
+        TestComponentId::PusModeService as ComponentId,
+        reply_receiver_pus,
+    );
+
+    // Request handlers only.
+    let mut mode_node_dev1 = ModeRequestHandlerMpscBounded::new(
+        TestComponentId::Device1 as ComponentId,
+        request_receiver_dev1,
+    );
+    let mut mode_node_dev2 = ModeRequestHandlerMpscBounded::new(
+        TestComponentId::Device2 as ComponentId,
+        request_receiver_dev2,
+    );
+
+    // Set up mode request senders first.
+    mode_node_pus.add_message_target(
+        TestComponentId::Assembly as ComponentId,
+        request_sender_to_assy,
+    );
+    mode_node_pus.add_message_target(
+        TestComponentId::Device1 as ComponentId,
+        request_sender_to_dev1.clone(),
+    );
+    mode_node_pus.add_message_target(
+        TestComponentId::Device2 as ComponentId,
+        request_sender_to_dev2.clone(),
+    );
+    mode_node_assy.add_request_target(
+        TestComponentId::Device1 as ComponentId,
+        request_sender_to_dev1,
+    );
+    mode_node_assy.add_request_target(
+        TestComponentId::Device2 as ComponentId,
+        request_sender_to_dev2,
+    );
+
+    // Set up mode reply senders.
+    mode_node_dev1.add_message_target(
+        TestComponentId::Assembly as ComponentId,
+        reply_sender_to_assy.clone(),
+    );
+    mode_node_dev1.add_message_target(
+        TestComponentId::PusModeService as ComponentId,
+        reply_sender_to_pus.clone(),
+    );
+    mode_node_dev2.add_message_target(
+        TestComponentId::Assembly as ComponentId,
+        reply_sender_to_assy,
+    );
+    mode_node_dev2.add_message_target(
+        TestComponentId::PusModeService as ComponentId,
+        reply_sender_to_pus.clone(),
+    );
+    mode_node_assy.add_reply_target(
+        TestComponentId::PusModeService as ComponentId,
+        reply_sender_to_pus,
+    );
+
+    let mut device1 = TestDevice {
+        name: "Test Device 1".to_string(),
+        mode_node: mode_node_dev1,
+        mode_and_submode: ModeAndSubmode::new(0, 0),
+    };
+    let mut device2 = TestDevice {
+        name: "Test Device 2".to_string(),
+        mode_node: mode_node_dev2,
+        mode_and_submode: ModeAndSubmode::new(0, 0),
+    };
+    let mut assy = TestAssembly {
+        mode_node: mode_node_assy,
+        mode_requestor_info: None,
+        mode_and_submode: ModeAndSubmode::new(0, 0),
+        target_mode_and_submode: None,
+    };
+    let pus_service = PusModeService {
+        request_id_counter: Cell::new(0),
+        mode_node: mode_node_pus,
+    };
+
+    pus_service.send_announce_mode_cmd_to_assy();
+    assy.run();
+    device1.run();
+    device2.run();
+    assy.run();
+}

satrs/tests/pus_events.rs

@@ -5,7 +5,8 @@ use satrs::events::{EventU32, EventU32TypedSev, Severity, SeverityInfo};
 use satrs::params::U32Pair;
 use satrs::params::{Params, ParamsHeapless, WritableToBeBytes};
 use satrs::pus::event_man::{DefaultPusEventMgmtBackend, EventReporter, PusEventDispatcher};
-use satrs::pus::TmAsVecSenderWithMpsc;
+use satrs::pus::PusTmAsVec;
+use satrs::request::UniqueApidTargetId;
 use spacepackets::ecss::tm::PusTmReader;
 use spacepackets::ecss::{PusError, PusPacket};
 use std::sync::mpsc::{self, SendError, TryRecvError};
@@ -15,6 +16,8 @@ const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
     EventU32TypedSev::<SeverityInfo>::const_new(1, 0);
 const LOW_SEV_EVENT: EventU32 = EventU32::const_new(Severity::LOW, 1, 5);
 const EMPTY_STAMP: [u8; 7] = [0; 7];
+const TEST_APID: u16 = 0x02;
+const TEST_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, 0x05);
 
 #[derive(Debug, Clone)]
 pub enum CustomTmSenderError {
@@ -30,15 +33,14 @@ fn test_threaded_usage() {
 
     let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
     let pus_event_man_send_provider = EventU32SenderMpsc::new(1, pus_event_man_tx);
-    event_man.subscribe_all(pus_event_man_send_provider.channel_id());
+    event_man.subscribe_all(pus_event_man_send_provider.target_id());
     event_man.add_sender(pus_event_man_send_provider);
-    let (event_tx, event_rx) = mpsc::channel();
-    let reporter = EventReporter::new(0x02, 128).expect("Creating event reporter failed");
-    let mut pus_event_man =
-        PusEventDispatcher::new(reporter, DefaultPusEventMgmtBackend::default());
+    let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
+    let reporter =
+        EventReporter::new(TEST_ID.raw(), 0x02, 128).expect("Creating event reporter failed");
+    let pus_event_man = PusEventDispatcher::new(reporter, DefaultPusEventMgmtBackend::default());
     // PUS + Generic event manager thread
     let jh0 = thread::spawn(move || {
-        let mut sender = TmAsVecSenderWithMpsc::new(0, "event_sender", event_tx);
         let mut event_cnt = 0;
         let mut params_array: [u8; 128] = [0; 128];
         loop {
@@ -46,9 +48,9 @@ fn test_threaded_usage() {
             assert!(res.is_ok());
             match pus_event_man_rx.try_recv() {
                 Ok((event, aux_data)) => {
-                    let mut gen_event = |aux_data| {
+                    let gen_event = |aux_data| {
                         pus_event_man.generate_pus_event_tm_generic(
-                            &mut sender,
+                            &event_tx,
                             &EMPTY_STAMP,
                             event,
                             aux_data,
@@ -60,12 +62,12 @@ fn test_threaded_usage() {
                                 ParamsHeapless::Raw(raw) => {
                                     raw.write_to_be_bytes(&mut params_array)
                                         .expect("Writing raw parameter failed");
-                                    gen_event(Some(&params_array[0..raw.raw_len()]))
+                                    gen_event(Some(&params_array[0..raw.written_len()]))
                                 }
                                 ParamsHeapless::EcssEnum(e) => {
                                     e.write_to_be_bytes(&mut params_array)
                                         .expect("Writing ECSS enum failed");
-                                    gen_event(Some(&params_array[0..e.raw_len()]))
+                                    gen_event(Some(&params_array[0..e.written_len()]))
                                 }
                             },
                             Params::Vec(vec) => gen_event(Some(vec.as_slice())),
@@ -101,8 +103,8 @@ fn test_threaded_usage() {
             match event_rx.try_recv() {
                 // Event TM received successfully
                 Ok(event_tm) => {
-                    let tm =
-                        PusTmReader::new(event_tm.as_slice(), 7).expect("Deserializing TM failed");
+                    let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
+                        .expect("Deserializing TM failed");
                     assert_eq!(tm.0.service(), 5);
                     assert_eq!(tm.0.subservice(), 1);
                     let src_data = tm.0.source_data();
@@ -127,8 +129,8 @@ fn test_threaded_usage() {
             match event_rx.try_recv() {
                 // Event TM received successfully
                 Ok(event_tm) => {
-                    let tm =
-                        PusTmReader::new(event_tm.as_slice(), 7).expect("Deserializing TM failed");
+                    let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
+                        .expect("Deserializing TM failed");
                     assert_eq!(tm.0.service(), 5);
                     assert_eq!(tm.0.subservice(), 2);
                     let src_data = tm.0.source_data();

satrs/tests/pus_verification.rs

@@ -3,10 +3,11 @@ pub mod crossbeam_test {
     use hashbrown::HashMap;
     use satrs::pool::{PoolProvider, PoolProviderWithGuards, StaticMemoryPool, StaticPoolConfig};
     use satrs::pus::verification::{
-        FailParams, RequestId, VerificationReporterCfg, VerificationReporterWithSender,
+        FailParams, RequestId, VerificationReporter, VerificationReporterCfg,
         VerificationReportingProvider,
     };
     use satrs::pus::TmInSharedPoolSenderWithCrossbeam;
+    use satrs::request::UniqueApidTargetId;
     use satrs::tmtc::tm_helper::SharedTmPool;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
     use spacepackets::ecss::tm::PusTmReader;
@@ -17,6 +18,8 @@ pub mod crossbeam_test {
     use std::time::Duration;
 
     const TEST_APID: u16 = 0x03;
+    const TEST_ID: TargetAndApidId = TargetAndApidId::new(TEST_APID, 0x05);
+
     const FIXED_STAMP: [u8; 7] = [0; 7];
     const PACKETS_SENT: u8 = 8;
 
@@ -40,13 +43,9 @@ pub mod crossbeam_test {
         let shared_tc_pool_0 = Arc::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
         let shared_tc_pool_1 = shared_tc_pool_0.clone();
         let (tx, rx) = crossbeam_channel::bounded(10);
-        let sender = TmInSharedPoolSenderWithCrossbeam::new(
-            0,
-            "verif_sender",
-            shared_tm_pool.clone(),
-            tx.clone(),
-        );
-        let mut reporter_with_sender_0 = VerificationReporterWithSender::new(&cfg, sender);
+        let sender_0 = TmInSharedPoolSenderWithCrossbeam::new(shared_tm_pool.clone(), tx.clone());
+        let sender_1 = sender_0.clone();
+        let mut reporter_with_sender_0 = VerificationReporter::new(&cfg);
         let mut reporter_with_sender_1 = reporter_with_sender_0.clone();
         // For test purposes, we retrieve the request ID from the TCs and pass them to the receiver
         // tread.
@@ -93,24 +92,36 @@ pub mod crossbeam_test {
 
             let token = reporter_with_sender_0.add_tc_with_req_id(req_id_0);
             let accepted_token = reporter_with_sender_0
-                .acceptance_success(token, &FIXED_STAMP)
+                .acceptance_success(TEST_ID.raw(), &sender_0, token, &FIXED_STAMP)
                 .expect("Acceptance success failed");
 
             // Do some start handling here
             let started_token = reporter_with_sender_0
-                .start_success(accepted_token, &FIXED_STAMP)
+                .start_success(TEST_ID.raw(), &sender_0, accepted_token, &FIXED_STAMP)
                 .expect("Start success failed");
             // Do some step handling here
             reporter_with_sender_0
-                .step_success(&started_token, &FIXED_STAMP, EcssEnumU8::new(0))
+                .step_success(
+                    TEST_ID.raw(),
+                    &sender_0,
+                    &started_token,
+                    &FIXED_STAMP,
+                    EcssEnumU8::new(0),
+                )
                 .expect("Start success failed");
 
             // Finish up
             reporter_with_sender_0
-                .step_success(&started_token, &FIXED_STAMP, EcssEnumU8::new(1))
+                .step_success(
+                    TEST_ID.raw(),
+                    &sender_0,
+                    &started_token,
+                    &FIXED_STAMP,
+                    EcssEnumU8::new(1),
+                )
                 .expect("Start success failed");
             reporter_with_sender_0
-                .completion_success(started_token, &FIXED_STAMP)
+                .completion_success(TEST_ID.raw(), &sender_0, started_token, &FIXED_STAMP)
                 .expect("Completion success failed");
         });
 
@@ -128,15 +139,15 @@ pub mod crossbeam_test {
             let (tc, _) = PusTcReader::new(&tc_buf[0..tc_len]).unwrap();
             let token = reporter_with_sender_1.add_tc(&tc);
             let accepted_token = reporter_with_sender_1
-                .acceptance_success(token, &FIXED_STAMP)
+                .acceptance_success(TEST_ID.raw(), &sender_1, token, &FIXED_STAMP)
                 .expect("Acceptance success failed");
             let started_token = reporter_with_sender_1
-                .start_success(accepted_token, &FIXED_STAMP)
+                .start_success(TEST_ID.raw(), &sender_1, accepted_token, &FIXED_STAMP)
                 .expect("Start success failed");
             let fail_code = EcssEnumU16::new(2);
             let params = FailParams::new_no_fail_data(&FIXED_STAMP, &fail_code);
             reporter_with_sender_1
-                .completion_failure(started_token, params)
+                .completion_failure(TEST_ID.raw(), &sender_1, started_token, params)
                 .expect("Completion success failed");
         });
 
@@ -145,14 +156,14 @@ pub mod crossbeam_test {
             let mut tm_buf: [u8; 1024] = [0; 1024];
             let mut verif_map = HashMap::new();
             while packet_counter < PACKETS_SENT {
-                let verif_addr = rx
+                let tm_in_pool = rx
                     .recv_timeout(Duration::from_millis(50))
                     .expect("Packet reception timeout");
                 let tm_len;
                 let shared_tm_store = shared_tm_pool.clone_backing_pool();
                 {
                     let mut rg = shared_tm_store.write().expect("Error locking shared pool");
-                    let store_guard = rg.read_with_guard(verif_addr);
+                    let store_guard = rg.read_with_guard(tm_in_pool.store_addr);
                     tm_len = store_guard
                         .read(&mut tm_buf)
                         .expect("Error reading TM slice");